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Simple pid Parameter Tuning Method Based on Outputs of the Closed Loop System

Chinese Journal of Mechanical Engineering 2016年第3期29卷 465-474页

作者： HAN Jianda ZHU Zhiqiang JIANG Ziya HE Yuqing State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China University of Chinese Academy of Sciences Beijing 100049China

Most of the existing pid parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the pid tuning scheme to be directly based on the input-output response of the closed-loop system. Thus, a new parameter tuning scheme for pid controllers without explicit mathematical model is developed in this paper. The paper begins with a new frequency domain properties analysis of the pid controller. After that, the definition of characteristic frequency for the pid controller is given in order to study the mathematical relationship between the pid parameters and the open-loop frequency properties of the controlled system. Then, the concepts of M-field and θ-field are introduced, which are then used to explain how the pid control parameters influence the closed-loop frequency-magnitude property and its time responses. Subsequently, the new pid parameter tuning scheme, i.e., a group of tuning rules, is proposed based on the preceding analysis. Finally, both simulations and experiments are conducted, and the results verify the feasibility and validity of the proposed methods. This research proposes a pid parameter tuning method based on outputs of the closed loop system.

关键词： pid control characteristic frequency step response frequency property

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